List of all members | Public Member Functions | Protected Member Functions | Protected Attributes
MotionModelBodySchema Class Reference

#include <MemoryX/libraries/motionmodels/MotionModelBodySchema.h>

+ Inheritance diagram for MotionModelBodySchema:

Public Member Functions

virtual AbstractMotionModel::EMotionModelType GetMotionModelType ()
 
 MotionModelBodySchema (armarx::RobotStateComponentInterfacePrx robotStateProxy, std::string handNodeName, LongtermMemoryInterfacePrx longtermMemory)
 
virtual void SetPoseAtLastLocalisation (const armarx::LinkedPoseBasePtr &poseAtLastLocalization, const armarx::PoseBasePtr &globalRobotPoseAtLastLocalization, const Ice::Current &c=Ice::emptyCurrent)
 
 ~MotionModelBodySchema ()
 
- Public Member Functions inherited from AbstractMotionModel
 AbstractMotionModel (armarx::RobotStateComponentInterfacePrx robotStateProxy)
 
virtual std::string getMotionModelName ()
 
virtual EMotionModelType getMotionModelType ()=0
 
armarx::LinkedPoseBasePtr getPoseAtLastLocalisation (const Ice::Current &=Ice::emptyCurrent) override
 
armarx::LinkedPoseBasePtr getPredictedPose (const Ice::Current &=Ice::emptyCurrent) override
 
armarx::LinkedPoseBasePtr getPredictedPoseAtStartOfCurrentLocalization (const Ice::Current &=Ice::emptyCurrent) override
 
MultivariateNormalDistributionBasePtr getUncertainty (const Ice::Current &=Ice::emptyCurrent) override
 
MultivariateNormalDistributionBasePtr getUncertaintyAtStartOfCurrentLocalization (const Ice::Current &=Ice::emptyCurrent) override
 
void savePredictedPoseAtStartOfCurrentLocalization (const Ice::Current &=Ice::emptyCurrent) override
 
void setPoseAtLastLocalisation (const armarx::LinkedPoseBasePtr &poseAtLastLocalization, const armarx::PoseBasePtr &globalRobotPoseAtLastLocalization, const MultivariateNormalDistributionBasePtr &uncertaintyAtLastLocalization, const Ice::Current &=Ice::emptyCurrent) override
 

Protected Member Functions

virtual armarx::LinkedPosePtr GetPredictedPoseInternal ()
 
virtual MultivariateNormalDistributionBasePtr getUncertaintyInternal ()
 
- Protected Member Functions inherited from AbstractMotionModel
 AbstractMotionModel ()
 
virtual armarx::LinkedPosePtr getPredictedPoseInternal ()=0
 

Protected Attributes

std::string handNodeName
 
unsigned int inputDim
 
LongtermMemoryInterfacePrx longtermMemory
 
std::shared_ptr< memoryx::KBM > model
 
unsigned int outputDim
 
armarx::NameList parentNodeNames
 
- Protected Attributes inherited from AbstractMotionModel
std::recursive_mutex motionPredictionLock
 

Additional Inherited Members

- Public Types inherited from AbstractMotionModel
enum  EMotionModelType { eMotionModelStaticObject, eMotionModelRobotHand, eMotionModelAttachedToOtherObject, eMotionModelKBM }
 
- Static Public Member Functions inherited from AbstractMotionModel
static EMotionModelType getMotionModelTypeByName (std::string motionModelName)
 

Detailed Description

Definition at line 32 of file MotionModelBodySchema.h.

Constructor & Destructor Documentation

◆ MotionModelBodySchema()

MotionModelBodySchema ( armarx::RobotStateComponentInterfacePrx  robotStateProxy,
std::string  handNodeName,
LongtermMemoryInterfacePrx  longtermMemory 
)

Definition at line 33 of file MotionModelBodySchema.cpp.

◆ ~MotionModelBodySchema()

~MotionModelBodySchema ( )

Definition at line 68 of file MotionModelBodySchema.cpp.

Member Function Documentation

◆ GetMotionModelType()

virtual AbstractMotionModel::EMotionModelType GetMotionModelType ( )
inlinevirtual

Definition at line 41 of file MotionModelBodySchema.h.

◆ GetPredictedPoseInternal()

armarx::LinkedPosePtr GetPredictedPoseInternal ( )
protectedvirtual

Definition at line 74 of file MotionModelBodySchema.cpp.

◆ getUncertaintyInternal()

memoryx::MultivariateNormalDistributionBasePtr getUncertaintyInternal ( )
protectedvirtual

Implements AbstractMotionModel.

Definition at line 137 of file MotionModelBodySchema.cpp.

◆ SetPoseAtLastLocalisation()

void SetPoseAtLastLocalisation ( const armarx::LinkedPoseBasePtr &  poseAtLastLocalization,
const armarx::PoseBasePtr &  globalRobotPoseAtLastLocalization,
const Ice::Current &  c = Ice::emptyCurrent 
)
virtual

Definition at line 103 of file MotionModelBodySchema.cpp.

Member Data Documentation

◆ handNodeName

std::string handNodeName
protected

Definition at line 57 of file MotionModelBodySchema.h.

◆ inputDim

unsigned int inputDim
protected

Definition at line 58 of file MotionModelBodySchema.h.

◆ longtermMemory

LongtermMemoryInterfacePrx longtermMemory
protected

Definition at line 60 of file MotionModelBodySchema.h.

◆ model

std::shared_ptr<memoryx::KBM> model
protected

Definition at line 52 of file MotionModelBodySchema.h.

◆ outputDim

unsigned int outputDim
protected

Definition at line 58 of file MotionModelBodySchema.h.

◆ parentNodeNames

armarx::NameList parentNodeNames
protected

Definition at line 59 of file MotionModelBodySchema.h.

The documentation for this class was generated from the following files: